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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
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Reconfigurable Soft Pneumatic Actuators Using Extensible Fabric-Based Skins.

Ajinkya Bhat1,2, Shobhit Sandeep Jaipurkar1,3, Li Ting Low1,3

  • 1Evolution Innovation Laboratory, National University of Singapore, Singapore, Singapore.

Soft Robotics
|April 12, 2023
PubMed
Summary
This summary is machine-generated.

This study introduces a novel fabric-skin composite for soft pneumatic actuators, enhancing capabilities for wearable robotics. These new actuators offer greater bending and twisting motion with lower pressure requirements.

Keywords:
fabric skin actuatormodular soft robotreconfigurable soft actuatortorsional soft actuatorwearable soft robot

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Area of Science:

  • Soft Robotics
  • Materials Science
  • Wearable Robotics

Background:

  • Soft actuators are crucial for wearable assistive robotics.
  • Conventional materials like silicone, fabrics, and TPU have individual limitations.
  • Composite designs can overcome material limitations for improved actuator performance.

Purpose of the Study:

  • To explore a composite design for soft pneumatic actuators using silicone and anisotropic fabric.
  • To develop actuators with enhanced bending and torsional capabilities for robotics.
  • To demonstrate the suitability of these actuators for wearable assistive devices.

Main Methods:

  • Fabrication of soft actuators using a silicone polymer bladder and a reconfigurable anisotropic fabric skin.
  • Design and testing of bending and torsional actuators utilizing fabric anisotropy.
  • Development of multilayer designs for high-force applications.

Main Results:

  • Torsional actuators achieved over 540° twist and bending actuators achieved 360° bending.
  • Reduced stiffness due to fabric skin led to lower actuation pressures.
  • Multilayer bending actuators generated 190 N of force at 100 kPa, suitable for exoskeletons.

Conclusions:

  • The fabric-skin composite design offers a versatile and customizable approach to soft actuator development.
  • These actuators demonstrate significant improvements in motion range and efficiency.
  • The design shows strong potential for advanced wearable assistive robotic applications.